Merge branch 'develop' into main

CMakeLists.txt

@@ -26,12 +26,24 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.2.1" LANGUAGES CXX C)
+project(depthai VERSION "2.3.0" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
 endif()
 
+# Set default build type depending on context
+set(default_build_type "Release")
+if(EXISTS "${CMAKE_SOURCE_DIR}/.git" AND NOT DEFINED ENV{CI})
+    set(default_build_type "Debug")
+endif()
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+    message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
+    set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE STRING "Choose the type of build." FORCE)
+    # Set the possible values of build type for cmake-gui
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
 # Set default installation directory
 if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
     set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install" CACHE PATH "Installation Directory" FORCE)
@@ -77,6 +89,20 @@ if(GIT_FOUND)
         RESULT_VARIABLE DEPTHAI_DOWNLOADED_SOURCES
         OUTPUT_QUIET ERROR_QUIET
     )
+    execute_process(
+        COMMAND ${GIT_EXECUTABLE} rev-parse HEAD
+        WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+        OUTPUT_VARIABLE BUILD_COMMIT
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    execute_process(
+        COMMAND ${GIT_EXECUTABLE} show -s --format=%ci ${BUILD_COMMIT}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+        OUTPUT_VARIABLE BUILD_COMMIT_DATETIME
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
 endif()
 
 ### Get and find dependencies
@@ -150,6 +176,8 @@ add_library(${TARGET_CORE_NAME}
     src/bspatch/bspatch.c
 )
 add_library("${PROJECT_NAME}::${TARGET_CORE_ALIAS}" ALIAS ${TARGET_CORE_NAME})
+# Specify that we are building core
+target_compile_definitions(${TARGET_CORE_NAME} PUBLIC DEPTHAI_TARGET_CORE)
 # Specifies name of generated IMPORTED target (set to alias)
 set_target_properties(${TARGET_CORE_NAME} PROPERTIES EXPORT_NAME ${TARGET_CORE_ALIAS})
 # Add to list of targets to export and install
@@ -276,10 +304,6 @@ else()
 
 endif()
 
-
-# Configure build information (version, ...)
-configure_file("${CMAKE_CURRENT_LIST_DIR}/cmake/version.hpp.in" "${CMAKE_CURRENT_LIST_DIR}/include/depthai/build/version.hpp")
-
 # Add include directories
 target_include_directories(${TARGET_CORE_NAME}
     PUBLIC
@@ -375,7 +399,10 @@ if(DEPTHAI_OPENCV_SUPPORT)
         target_link_libraries(${TARGET_OPENCV_NAME} PUBLIC ${REQUIRED_OPENCV_LIBRARIES})
 
         # Add public compile definition indicating that OpenCV support is available
-        target_compile_definitions(${TARGET_OPENCV_NAME} PUBLIC DEPTHAI_OPENCV_SUPPORT)
+        set(DEPTHAI_HAVE_OPENCV_SUPPORT ON)
+
+        # Specify that we are building target opencv
+        target_compile_definitions(${TARGET_OPENCV_NAME} PUBLIC DEPTHAI_TARGET_OPENCV)
 
         # Add public dependency to depthai::core library
         target_link_libraries(${TARGET_OPENCV_NAME} PUBLIC ${TARGET_CORE_NAME})
@@ -430,6 +457,17 @@ if (DEPTHAI_BUILD_DOCS)
     add_subdirectory(docs)
 endif()
 
+########################
+# Build configuration
+########################
+# Add year information
+string(TIMESTAMP BUILD_DATETIME "%Y-%m-%d %H:%M:%S +0000" UTC)
+message(STATUS "BUILD_DATETIME: ${BUILD_DATETIME}, BUILD_COMMIT: ${BUILD_COMMIT}, BUILD_COMMIT_DATETIME: ${BUILD_COMMIT_DATETIME}")
+
+# Configure build information (version, opencv support)
+configure_file("${CMAKE_CURRENT_LIST_DIR}/cmake/version.hpp.in" "${CMAKE_CURRENT_LIST_DIR}/include/depthai/build/version.hpp")
+configure_file("${CMAKE_CURRENT_LIST_DIR}/cmake/config.hpp.in" "${CMAKE_CURRENT_LIST_DIR}/include/depthai/build/config.hpp")
+
 ########################
 # Export and install
 ########################

README.md

@@ -21,65 +21,114 @@ MacOS: `brew install libusb`
 
 Linux: `sudo apt install libusb-1.0-0-dev`
 
-## Using as library
+## Integration
 
-To use this library in your own project you can use CMake `add_subdirectory` pointing to the root of this repository
-Optionally append `EXCLUDE_FROM_ALL` to hide depthai-core related targets, etc...
+### CMake
+
+Targets available to link to are:
+ - depthai::core - Core library, without using opencv internally
+ - depthai::opencv - Core + support for opencv related helper functions (requires OpenCV4)
+
+#### Using find_package
+
+Build static or dynamic version of library and install (See: [Building](##building) and [Installing](##installing))
+
+Add `find_package` and `target_link_libraries` to your project
+```
+find_package(depthai CONFIG REQUIRED)
+...
+target_link_libraries([my-app] PRIVATE depthai::opencv)
 ```
-add_subdirectory(depthai-core)
+
+And point CMake to either build directory or install directory:
+```
+-D depthai_DIR=depthai-core/build
 ```
 or
 ```
-add_subdirectory(depthai-core EXCLUDE_FROM_ALL)
+-D depthai_DIR=depthai-core/build/install/lib/cmake/depthai
 ```
-And at the end link to your target (PUBLIC or PRIVATE depending on your needs)
+
+If library was installed to default search path like `/usr/local` on Linux, specifying `depthai_DIR` isn't necessary as CMake will find it automatically.
+
+#### Using add_subdirectory
+
+This method is more intrusive but simpler as it doesn't require building the library separately.
+
+Add `add_subdirectory` which points to `depthai-core` folder **before** project command. Then link to any required targets.
 ```
-target_link_libraries(my-app PUBLIC depthai-core)
+add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/depthai-core EXCLUDE_FROM_ALL)
+...
+project(my-app)
+...
+target_link_libraries([my-app] PRIVATE depthai::opencv)
 ```
 
+### Non-CMake integration (Visual Studio, Xcode, CodeBlocks, ...)
+
+To integrate into a different build system than CMake, prefered way is compiling as dynamic library and pointing to correct include directories.
+1. First build as dynamic library: [Building Dynamic library](###dynamic-library)
+2. Then install: [Installing](##installing)
+3. Set needed library directories:
+    - `build/install/lib` (for linking to either depthai-core or depthai-opencv)
+    - `build/install/bin` (for .dll's)
+4. And include directories
+    - `build/install/include` (library headers)
+    - `build/install/include/depthai-shared/3rdparty` (shared 3rdparty headers)
+    - `build/install/lib/cmake/depthai/dependencies/include` (dependencies headers)
+
+> ℹ️ Threading library might need to be linked to explicitly.
+
 ## Building
 
-Make sure submodules are updated 
+Make sure submodules are updated
 ```
 git submodule update --init --recursive
 ```
 
-**Static library** 
+> ℹ️ To speed up build times, use `cmake --build build --parallel [num CPU cores]` (CMake >= 3.12).
+For older versions use: Linux/macOS: `cmake --build build -- -j[num CPU cores]`, MSVC: `cmake --build build -- /MP[num CPU cores]`
+
+### Static library
 ```
-mkdir build && cd build
-cmake ..
-cmake --build . --parallel 8
+cmake -H. -Bbuild
+cmake --build build
 ```
 
-**Dynamic library**
+### Dynamic library
 ```
-mkdir build && cd build
-cmake .. -D BUILD_SHARED_LIBS=ON
-cmake --build . --parallel 8
+cmake -H. -Bbuild -D BUILD_SHARED_LIBS=ON
+cmake --build build
 ```
 ## Installing
 
 To install specify optional prefix and build target install
 ```
-cmake .. -D CMAKE_INSTALL_PREFIX=[path/to/install/dir]
-cmake --build . --parallel 8
-cmake --build . --target install --parallel 8
+cmake -H. -Bbuild -D CMAKE_INSTALL_PREFIX=[path/to/install/dir]
+cmake --build build
+cmake --build build --target install
 ```
 
+If `CMAKE_INSTALL_PREFIX` isn't specified, the library is installed under build folder `install`.
+
 ## Running tests
 
 To run the tests build the library with the following options
 ```
-mkdir build_tests && cd build_tests
-cmake .. -D DEPTHAI_TEST_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_BUILD_EXAMPLES=ON
-cmake --build . --parallel 8
+cmake -H. -Bbuild -D DEPTHAI_TEST_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_BUILD_EXAMPLES=ON
+cmake --build build
+```
+
+Then navigate to `build` folder and run `ctest`
+```
+cd build
 ctest
 ```
 
 ## Style check
 
-The library uses clang format to enforce a certain style. 
-If a style check is failing, run the `clangformat` target, check the output and push changes
+The library uses clang format to enforce a certain coding style.
+If a style check is failing, run the `clangformat` target, check the output and push changes.
 
 To use this target clang format must be installed, preferably clang-format-10
 ```
@@ -88,7 +137,7 @@ sudo apt install clang-format-10
 
 And to apply formatting
 ```
-cmake --build [build/dir] --target clangformat
+cmake --build build --target clangformat
 ```
 
 ## Documentation generation
@@ -119,7 +168,7 @@ This retains the libraries source code, so that debugger can step through it (th
 ## Troubleshooting
 
 ### Hunter
-Hunter is a CMake-only dependency manager for C/C++ projects. 
+Hunter is a CMake-only dependency manager for C/C++ projects.
 
 If you are stuck with error message which mentions external libraries (subdirectory of `.hunter`) like the following:
 ```

cmake/Depthai/DepthaiDeviceSideConfig.cmake

@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "595330292c4bd1955e4e8046b0f42af2dba4b124")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "16652fb049b5a9b47e3098d94fb9cedc353f82e9")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")

cmake/config.hpp.in

@@ -0,0 +1,14 @@
+/*
+ * Generated by CMake build tool.
+ */
+#pragma once
+
+// This build supports OpenCV integration?
+#cmakedefine DEPTHAI_HAVE_OPENCV_SUPPORT
+
+// Build specific settings overwrite
+#ifdef DEPTHAI_TARGET_CORE
+#ifndef DEPTHAI_TARGET_OPENCV
+#undef DEPTHAI_HAVE_OPENCV_SUPPORT
+#endif
+#endif

cmake/version.hpp.in

@@ -1,16 +1,20 @@
-/* 
- * Generated by CMake build tool. 
- * To modify version, open CMakeLists.txt and bump the version in project() function 
+/*
+ * Generated by CMake build tool.
+ * To modify version, open CMakeLists.txt and bump the version in project() function
  */
-
 #pragma once
+
 namespace dai
 {
-    namespace build
-    {
-        constexpr static const char* VERSION = "${PROJECT_VERSION}";
-        constexpr static const int VERSION_MAJOR = ${PROJECT_VERSION_MAJOR};
-        constexpr static const int VERSION_MINOR = ${PROJECT_VERSION_MINOR};
-        constexpr static const int VERSION_PATCH = ${PROJECT_VERSION_PATCH};
-    } // namespace Build
+namespace build
+{
+    constexpr static const char* VERSION = "${PROJECT_VERSION}";
+    constexpr static const int VERSION_MAJOR = ${PROJECT_VERSION_MAJOR};
+    constexpr static const int VERSION_MINOR = ${PROJECT_VERSION_MINOR};
+    constexpr static const int VERSION_PATCH = ${PROJECT_VERSION_PATCH};
+
+    constexpr static const char* COMMIT = "${BUILD_COMMIT}";
+    constexpr static const char* COMMIT_DATETIME = "${BUILD_COMMIT_DATETIME}";
+    constexpr static const char* BUILD_DATETIME = "${BUILD_DATETIME}";
+} // namespace build
 } // namespace dai

docs/Doxyfile.in

@@ -2199,7 +2199,7 @@ INCLUDE_FILE_PATTERNS  =
 # recursively expanded use the := operator instead of the = operator.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-PREDEFINED             = DEPTHAI_OPENCV_SUPPORT
+PREDEFINED             = DEPTHAI_HAVE_OPENCV_SUPPORT
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The

examples/CMakeLists.txt

@@ -3,6 +3,7 @@ option(DEPTHAI_TEST_EXAMPLES "Test examples - examples will be ran as a part of
 
 # Dependencies
 find_package(OpenCV REQUIRED)
+find_package(Sanitizers)
 
 # Create utility library
 add_library(utility src/utility.cpp)
@@ -13,13 +14,16 @@ macro(dai_add_example example_name example_src)
     add_executable("${example_name}" "${example_src}")
     target_link_libraries("${example_name}" PRIVATE utility depthai::opencv ${OpenCV_LIBS})
 
+    # Add sanitizers for example
+    add_sanitizers(${example_name})
+
     # Add to clangformat target
     target_clangformat_setup(${example_name} "")
 
     # parse the rest of the arguments
     set(arguments ${ARGV})
     list(REMOVE_AT arguments 0 1)
-    
+
     # If 'DEPTHAI_TEST_EXAMPLES' is ON, then examples will be part of the test suite
     if(DEPTHAI_TEST_EXAMPLES)
         add_test(NAME ${example_name} COMMAND ${CMAKE_COMMAND}
@@ -28,16 +32,13 @@ macro(dai_add_example example_name example_src)
         )
 
         # Sets a regex catching any logged warnings, errors or critical (coming either from device or host)
-        set_tests_properties (${example_name} PROPERTIES FAIL_REGULAR_EXPRESSION "\\[warning\\];\\[error\\];\\[critical\\]") 
-
-        # Add sanitizers for tests as well
-        add_sanitizers(${example_name})
+        set_tests_properties (${example_name} PROPERTIES FAIL_REGULAR_EXPRESSION "\\[warning\\];\\[error\\];\\[critical\\]")
 
         # Add ubsan halt on error
         set_tests_properties(${example_name} PROPERTIES ENVIRONMENT "UBSAN_OPTIONS=halt_on_error=1")
 
     endif()
-endmacro() 
+endmacro()
 
 # Create a custom target which runs all examples for 10 seconds max, and check if they executed without errors
 
@@ -130,6 +131,9 @@ dai_add_example(device_queue_event src/device_queue_event_example.cpp)
 # OpenCV support example
 dai_add_example(opencv_support src/opencv_support_example.cpp)
 
+# RGB-depth alignment example
+dai_add_example(rgb_depth_aligned src/rgb_depth_aligned_example.cpp)
+
 # Device side decoding example for mobilenet-ssd
 dai_add_example(mobilenet_device_side_decoding src/mobilenet_device_side_decoding_example.cpp)
 target_compile_definitions(mobilenet_device_side_decoding PRIVATE BLOB_PATH="${mobilenet_blob}")

examples/src/camera_mobilenet_example.cpp

@@ -58,10 +58,8 @@ int main(int argc, char** argv) {
     // Create pipeline
     dai::Pipeline p = createNNPipeline(nnPath);
 
-    // Connect to device with above created pipeline
+    // Connect and start the pipeline
     dai::Device d(p);
-    // Start the pipeline
-    d.startPipeline();
 
     cv::Mat frame;
     auto preview = d.getOutputQueue("preview");

examples/src/camera_mobilenet_sync_example.cpp

@@ -56,7 +56,6 @@ int main(int argc, char** argv) {
 
     // Connect to device and start pipeline
     dai::Device device(pipeline);
-    device.startPipeline();
 
     // Create input & output queues
     auto previewQueue = device.getOutputQueue("preview");